version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 14
start: 10 6 118 3 38 23
data:
$ID,573
$MISSION,23
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,115
$T_ABORT,135
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,125
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,532.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.59918
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,061018,032400,-2923.7900,3156.3052,44,0.8,46,-24.3,1.1,194.9,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.4
$GPS2,061018,033758,-2924.1787,3156.0181,17,0.8,18,-24.3,1.6,192.6,10,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2930.373,3206.183
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,149.3,20000,-18.3,-10.000,-21.04,2236
$D_GRID,300
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.86,-146.0,74,1982,619,643,0.0,0.0,0,109,0.00,0.00,-87.72,0.000,16386,0.000,0.000,74,1983,3126,3137,3116,0,0,0,0,0,0,15.09,28.83,15.10
$GC,113,-0.86,-146.0,74,1983,3137,3116,3.6,-8.7,16,138,12.07,2.35,-4.82,0.000,18948,0.288,0.083,2206,573,3406,3447,3365,0,0,0,0,0,0,14.69,14.17,14.85
$GC,215,-0.86,-146.0,2206,573,3448,3365,29.2,-16.8,35,222,0.05,2.33,0.00,0.000,3078,0.354,0.048,2210,1994,3406,3447,3365,0,0,0,0,0,0,14.74,14.90,14.93
$GC,285,-0.86,-146.0,2209,1994,3448,3365,40.4,-16.4,48,292,0.00,2.38,0.00,0.000,2308,0.000,0.070,2200,3399,3406,3448,3365,0,0,0,0,0,0,15.16,14.89,15.16
$GC,323,-0.86,-146.0,2200,3399,3447,3365,46.7,-15.6,55,330,0.00,2.30,0.00,0.000,3078,0.000,0.042,2200,1980,3407,3448,3366,0,0,0,0,0,0,14.98,14.90,14.99
$GC,393,-0.86,-146.0,2200,1980,3448,3365,58.4,-17.1,68,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1980,3406,3448,3365,0,0,0,0,0,0,15.19,15.19,15.19
$GC,461,-0.86,-146.0,2199,1980,3448,3365,69.7,-16.7,81,467,0.00,2.33,0.00,0.000,2564,0.000,0.067,2200,585,3406,3447,3365,0,0,0,0,0,0,15.20,14.95,15.20
$GC,489,-0.86,-146.0,2200,584,3448,3365,74.8,-17.3,86,495,0.00,2.28,0.00,0.000,3078,0.000,0.048,2200,1988,3406,3448,3365,0,0,0,0,0,0,15.00,14.92,15.00
$GC,557,-0.86,-146.0,2200,1989,3447,3365,86.2,-15.3,99,563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1988,3406,3448,3365,0,0,0,0,0,0,15.21,15.21,15.21
$GC,625,-0.86,-146.0,2200,1989,3447,3365,95.6,-14.7,112,632,0.00,2.38,0.00,0.000,2308,0.000,0.071,2200,3393,3405,3445,3365,0,0,0,0,0,0,15.21,14.92,15.21
$GC,643,-0.86,-146.0,2200,3393,3448,3365,98.5,-16.0,115,650,0.00,2.28,0.00,0.000,3078,0.000,0.042,2201,1986,3406,3448,3365,0,0,0,0,0,0,15.04,14.92,15.02
$GC,714,-0.86,-146.0,2201,1986,3448,3365,109.9,-18.8,128,720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1986,3406,3448,3365,0,0,0,0,0,0,15.21,15.21,15.21
$GC,784,-0.86,-146.0,2199,1986,3448,3365,120.6,-14.5,141,790,0.00,2.38,0.00,0.000,2308,0.000,0.070,2200,3390,3406,3447,3365,0,0,0,0,0,0,15.21,14.89,15.21
$GC,908,-0.86,-146.0,2200,3390,3448,3365,138.1,-14.2,165,915,0.00,2.28,0.00,0.000,3078,0.000,0.041,2200,1981,3409,3448,3371,0,0,0,0,0,0,15.10,15.02,15.11
$GC,977,-0.86,-146.0,2200,1981,3448,3364,148.2,-15.0,178,983,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1981,3406,3448,3365,0,0,0,0,0,0,15.22,15.22,15.22
$GC,1045,-0.86,-146.0,2200,1981,3448,3365,157.6,-14.5,191,1051,0.00,2.38,0.00,0.000,2308,0.000,0.069,2200,3390,3407,3449,3365,0,0,0,0,0,0,15.22,14.94,15.23
$GC,1078,-0.86,-146.0,2200,3389,3448,3365,162.4,-13.8,197,1085,0.00,2.28,0.00,0.000,3078,0.000,0.041,2200,1980,3406,3448,3365,0,0,0,0,0,0,15.10,15.02,15.11
$GC,1148,-0.86,-146.0,2200,1981,3448,3366,171.7,-13.0,210,1154,0.00,2.40,0.00,0.000,2308,0.000,0.070,2200,3388,3406,3448,3365,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1191,-0.86,-146.0,2199,3391,3448,3365,177.1,-12.7,218,1198,0.00,2.30,0.00,0.000,3078,0.000,0.041,2200,1984,3406,3448,3365,0,0,0,0,0,0,15.11,15.01,15.11
$GC,1260,-0.86,-146.0,2200,1984,3448,3365,185.2,-11.7,231,1267,0.03,2.33,0.00,0.000,2564,0.490,0.065,2209,578,3406,3448,3365,0,0,0,0,0,0,14.90,14.97,15.05
$GC,1294,-0.86,-146.0,2208,578,3449,3365,189.3,-12.1,237,1300,0.00,2.30,0.00,0.000,3078,0.000,0.048,2209,1993,3407,3449,3365,0,0,0,0,0,0,15.02,14.93,15.03
$GC,1364,-0.86,-146.0,2208,1993,3448,3366,196.3,-9.7,250,1371,0.00,2.35,0.00,0.000,2308,0.000,0.072,2209,3394,3406,3448,3365,0,0,0,0,0,0,15.23,14.92,15.23
$STATE,1405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1405,begin apogee
$GC,1411,-0.19,0.0,2209,1973,3448,3365,200.0,-9.2,257,1523,1.05,0.00,106.80,1.184,10246,0.147,0.000,2425,1972,2811,2843,2779,0,0,0,0,0,0,14.85,14.63,14.13
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1526,0.86,146.0,2425,1972,2843,2778,204.2,0.0,277,1644,1.52,2.42,108.72,1.172,11012,0.052,0.067,2792,582,2217,2260,2174,0,0,0,0,0,0,14.66,14.50,14.04
$GC,1681,0.93,203.9,2792,582,2249,2174,205.0,7.3,304,1732,0.00,2.33,45.47,1.148,13318,0.000,0.046,2792,1989,1979,2027,1932,0,0,0,0,0,0,14.70,14.62,14.10
$GC,1794,0.93,203.9,2792,1989,2022,1927,190.9,14.3,325,1801,0.00,2.38,0.00,0.000,4356,0.000,0.066,2790,3390,1974,2021,1927,0,0,0,0,0,0,14.92,14.71,14.92
$GC,1822,0.93,203.9,2792,3390,2021,1926,186.6,16.4,330,1829,0.00,2.33,0.00,0.000,5126,0.000,0.044,2801,1996,1973,2021,1925,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1892,0.93,203.9,2800,1996,2017,1924,177.0,13.6,343,1899,0.00,2.38,0.00,0.000,4612,0.000,0.070,2801,582,1971,2019,1924,0,0,0,0,0,0,15.03,14.76,15.03
$GC,1910,0.93,203.9,2800,582,2019,1925,174.5,12.6,346,1917,0.00,2.33,0.00,0.000,5126,0.000,0.046,2801,1991,1971,2018,1924,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1980,0.93,203.9,2801,1991,2018,1924,165.6,13.5,359,1987,0.00,2.35,0.00,0.000,4356,0.000,0.067,2801,3401,1971,2018,1924,0,0,0,0,0,0,15.09,14.86,15.09
$GC,2056,0.93,203.9,2800,3397,2018,1921,154.5,14.7,373,2063,0.10,2.30,0.00,0.000,5126,0.275,0.043,2791,1981,1971,2018,1924,0,0,0,0,0,0,14.80,14.92,14.97
$GC,2125,0.93,203.9,2791,1981,2018,1923,143.5,17.9,386,2130,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,1980,1970,2018,1923,0,0,0,0,0,0,15.14,15.15,15.15
$GC,2192,0.93,203.9,2791,1979,2017,1923,133.1,13.3,399,2199,0.00,2.40,0.00,0.000,4356,0.000,0.066,2791,3396,1970,2017,1923,0,0,0,0,0,0,15.16,14.90,15.16
$GC,2496,0.99,255.9,2791,3396,2017,1922,104.1,7.6,459,2542,0.00,2.30,40.25,1.076,11270,0.000,0.044,2799,1984,1766,1819,1714,0,0,0,0,0,0,15.09,15.00,14.34
$GC,2604,0.99,255.9,2799,1989,1816,1707,93.6,11.1,479,2611,0.00,2.40,0.00,0.000,2308,0.000,0.066,2799,3397,1761,1815,1707,0,0,0,0,0,0,15.07,14.85,15.07
$GC,2623,0.99,255.9,2799,3397,1815,1706,91.0,12.5,482,2630,0.00,2.33,0.00,0.000,1030,0.000,0.044,2808,1986,1760,1815,1706,0,0,0,0,0,0,14.94,14.86,14.95
$GC,2692,0.99,255.9,2809,1986,1815,1706,82.8,12.5,495,2699,0.00,2.35,0.00,0.000,516,0.000,0.071,2819,581,1760,1814,1706,0,0,0,0,0,0,15.11,14.84,15.11
$GC,2761,0.99,255.9,2819,581,1812,1706,72.9,14.7,508,2768,0.00,2.30,0.00,0.000,5126,0.000,0.047,2819,1992,1759,1812,1706,0,0,0,0,0,0,14.98,14.95,15.00
$GC,2831,0.99,255.9,2819,1992,1812,1706,62.7,14.9,521,2836,0.00,0.00,0.00,0.000,4102,0.000,0.000,2819,1992,1759,1812,1706,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2898,0.99,255.9,2819,1993,1811,1706,52.6,13.9,534,2904,0.00,0.00,0.00,0.000,4102,0.000,0.000,2819,1992,1758,1811,1705,0,0,0,0,0,0,15.18,15.19,15.18
$GC,2966,0.99,255.9,2818,1992,1811,1706,43.5,13.9,547,2973,0.00,2.33,0.00,0.000,4356,0.000,0.067,2819,3393,1758,1811,1705,0,0,0,0,0,0,15.19,14.96,15.19
$GC,2984,0.99,255.9,2819,3393,1811,1706,41.0,14.3,550,2992,0.08,2.30,0.00,0.000,5126,0.303,0.046,2814,1984,1758,1811,1705,0,0,0,0,0,0,14.85,14.98,15.04
$GC,3054,0.99,255.9,2814,1984,1811,1705,30.7,14.0,563,3061,0.00,2.33,0.00,0.000,4612,0.000,0.072,2822,585,1757,1810,1705,0,0,0,0,0,0,15.20,14.96,15.21
$GC,3068,0.99,255.9,2822,584,1813,1705,28.8,13.8,565,3074,0.00,2.28,0.00,0.000,5126,0.000,0.044,2822,1990,1758,1811,1705,0,0,0,0,0,0,15.05,14.97,15.07
$GC,3136,0.99,255.9,2821,1990,1810,1705,18.9,14.4,578,3142,0.00,0.00,0.00,0.000,4102,0.000,0.000,2822,1991,1757,1810,1705,0,0,0,0,0,0,15.20,15.21,15.21
$GC,3204,0.99,255.9,2822,1991,1810,1706,9.2,14.7,591,3210,0.00,0.00,0.00,0.000,4102,0.000,0.000,2822,1991,1757,1810,1705,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,3245,end climb,SURFACE_DEPTH_REACHED
$STATE,3245,begin surface coast
$FINISH,0.2,1.024237
$STATE,3267,end surface coast,CONTROL_FINISHED_OK
$STATE,3268,begin surface
$SM_CCo,3288,134.02,0.104,0,0,639,532.78
$SM_GC,1.01,12.25,0.00,134.02,0.050,0.000,0.104,131,1991,639,-7.30,0.11,532.78,0,0,0,0,0,0,15.02,15.23,14.94
$IRIDIUM_FIX,-2910.40,3157.18,061018,014513
$TT8_MAMPS,0.019474,0.796936
$HUMID,51.92
$INTERNAL_PRESSURE,9.12109
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,200.0,6.9
$SC_FREEKB,3915456
$24V_AH,14.04,50.977
$10V_AH,13.88,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.150,84.000,301.250,134.025,0.000,24.105,39.026,541.791,3.250,0.000,19.733,1296.641,564.866,599.927,1657.339,145.242,0.000,1169.901,0.000,911.381,0.000,22.819,0.000
$DEVICE_MAMPS,489.600,83.385,1184.220,104.040,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3335.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.523,0.000,0.000,0.000
$MEM,339744
$DATA_FILE_SIZE,20090,603
$CAP_FILE_SIZE,121056,0
$CFSIZE,1023623168,1019248640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061018,043622,-2926.109,3155.115,17,0.9,18,-24.3,1.2,251.9,10,7.0